Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2005-07-26
2005-07-26
Black, Thomas G. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S246000, C700S251000, C700S260000, C700S261000, C318S568100, C318S568120, C318S568160, C318S568170, C318S568200
Reexamination Certificate
active
06922609
ABSTRACT:
A floor shape estimation system for a legged mobile robot, in particular a biped walking robot, which estimates a foot-to-foot floor inclination difference based on at least a control error of the total floor reaction force's moment and corrects a feet compensating angle based on the estimated value. Further, the system estimates a foot floor inclination difference based on at least a control error of the foot floor reaction force about a desired foot floor reaction force central point and corrects a foot compensating angle based on the estimated value. Furthermore, it determines whether it is in a situation where the accuracy of estimation is liable to degrade based on at least a time of the gait of the robot and when it is in the situation, the system interrupts the estimation. With this, the system can accurately estimate the shape of floor with which the robot is in contact.
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Hasegawa Tadaaki
Matsumoto Takashi
Takenaka Toru
Black Thomas G.
Honda Giken Kogyo Kabushiki Kaisha
Marc McDieunel
Squire Sanders & Dempsey L.L.P.
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